Recursive non-uniform coverage of unknown terrains for UAVs | IEEE Conference Publication | IEEE Xplore

Recursive non-uniform coverage of unknown terrains for UAVs


Abstract:

Area coverage is one of the compelling applications of UAVs. The existing methods for coverage path planning assume a uniformly interesting target area. However in many r...Show More

Abstract:

Area coverage is one of the compelling applications of UAVs. The existing methods for coverage path planning assume a uniformly interesting target area. However in many real world applications items of interest are not uniformly distributed but form clusters. Here it can be advantageous to only sample regions of interest while skipping uninteresting sections of the environment. In this paper, we present a coverage tree structure that can accommodate non-uniform coverage of regions in the target area. Three strategies are proposed to traverse the coverage tree. Experiments indicate that in some situations our method can cover the interesting regions with about half the travel time / cost of a naive regular `lawnmower' coverage pattern.
Date of Conference: 14-18 September 2014
Date Added to IEEE Xplore: 06 November 2014
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Conference Location: Chicago, IL, USA

References

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